CN203650522U - Modular humanoid head system and emotional robot with same - Google Patents
Modular humanoid head system and emotional robot with same Download PDFInfo
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- CN203650522U CN203650522U CN201420031741.1U CN201420031741U CN203650522U CN 203650522 U CN203650522 U CN 203650522U CN 201420031741 U CN201420031741 U CN 201420031741U CN 203650522 U CN203650522 U CN 203650522U
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Abstract
The utility model discloses a modular humanoid head system which comprises a framework system, a visual layer component, a face layer component and a lower jaw layer component. The visual layer component, the face layer component and the lower jaw layer component are mounted on the framework system, and all parts are connected in a mounted manner by the aid of a modular structure. The modular humanoid head system is convenient to mount and adjust, accordingly can realize facial expressions of different people, and has fine compatibility.
Description
Technical field
The utility model belongs to Robotics field, particularly relates to a kind of head system for expression robot and has the expression robot of this head system.
Background technology
First-generation industrial robot does not have expression of feeling, lacks the high-grade intelligents such as machine vision, machine hearing, and the quality of whether having worked, having completed cannot perception, is difficult to carry out man-machine interaction with operating personnel.Emphasis in this field is the mechanism of research machine human feelings sense expression and face organ, skin deformation.The basic structures such as eyebrow that at present expression robot has, eye, mouth, nose, can show significantly and the expression such as laugh at, cry, and effectively solve the problems such as above man-machine interaction deficiency.
American-European aspect have the Artificial Intelligence Laboratory of Massachusetts Institute Technology (M IT) Kismet, focus on mechanical stability, be applied to film shooting; There is the WE-4R of Waseda University in Japan, possesses perfect emotion model, can give expression to according to external environment condition the emotion of oneself.
Domestic expression robot is started late, and has the Sun Yat-sen robot of Harbin Institute of Technology, SHFR_1, the Li Yong 2 of Xi'an superman company etc. of Shanghai University.Wherein the apery profile of the expression robot of Xi'an superman company is more outstanding.
The shortcoming of existing structure: control mechanism's weave in of different loci, make the difficulty of amendment larger, a head can only adapt to a kind of crowd's face expression.Face sub-, European has a long way to go, so a head can not be accomplished good compatibility.
Utility model content
The purpose of this utility model is just to provide a kind of modularization apery head system, and to solve, existing structure amendment difficulty is large, the problem of bad adaptability, and it can adapt to different ethnic groups by only changing a module, the emulation musculus cutaneus of different sexes, and overall materials are few, easy to assembly, and cost is low.Meanwhile, the utility model also provides a kind of expression robot with this head system.
The purpose of this utility model realizes by following technical proposals:
A kind of modularization apery head system, comprises shell system and is installed on vision layer member, face layer member and the lower jaw layer member on shell system, it is characterized in that:
Described shell system is made up of three given layer skeletons, the fixing skeleton in upper strata, the fixing skeleton in middle level, the fixing skeleton of lower floor and base fixed mount, three given layer skeletons are vertically arranged side by side, and on three given layer skeletons, skeleton and base fixed mount are fixed by the fixing skeleton in level grafting upper strata, the fixing skeleton in middle level, lower floor successively from top to bottom;
Described vision layer member is made up of vision layer firm banking, vision layer steering wheel, vision layer rocking bar and eyeball module; Vision layer firm banking is detachable to be connected on the fixing skeleton in upper strata, rivets two eyeball modules on vision layer firm banking, and vision layer steering wheel of corresponding each eyeball module bolt, and vision layer steering wheel is connected by vision layer rocking bar with eyeball module;
Described face layer member is made up of face layer firm banking, face layer steering wheel, face layer rocking bar, pull lever and face layer support; Face layer firm banking is detachable to be connected on the fixing skeleton in middle level, and face layer steering wheel and face layer stent bolt are connected on face layer firm banking, and pull lever is arranged on face layer support, and face layer steering wheel is connected by face layer rocking bar with pull lever;
Described lower jaw layer member is made up of lower jaw layer firm banking, lower jaw layer support, mandible piece and model teeth; Lower jaw layer firm banking is detachable to be connected on the fixing skeleton of lower floor, and lower jaw layer stent bolt is connected on lower jaw layer firm banking, and mandible piece is riveted on lower jaw layer support, and model teeth is fixed between mandible piece and lower jaw layer firm banking.
Further, on described given layer skeleton, the fixing skeleton in upper strata, the fixing skeleton in middle level, the fixing skeleton of lower floor and base fixed mount, correspondence is offered interface, connects by the mode of pegging graft.
This socket connection structure makes all parts manufacture processing more convenient, and cost is lower, and assembly and disassembly is convenient, utilizes the replacing of single parts.
Further, strip installing hole is offered in the left and right sides that the fixing skeleton of skeleton, middle level and the fixing skeleton of lower floor are fixed in described upper strata respectively correspondence, the corresponding above-mentioned installing hole of vision layer firm banking, face layer firm banking and lower jaw layer firm banking is offered perpendicular strip pilot hole, utilize installing hole and pilot hole to adopt bolt respectively vision layer firm banking to be fixed on the fixing skeleton in upper strata, face layer firm banking is fixed on the fixing skeleton in middle level, and lower jaw layer firm banking is fixed on the fixing skeleton of lower floor.
Can adjust very easily the rigging position all around of vision layer, face layer and lower jaw layer by installing hole and pilot hole, thereby adapt to different ethnic groups, the emulation musculus cutaneus of different sexes, and install more flexible.
Further, described three given layer skeletons, the fixing skeleton in upper strata, the fixing skeleton in middle level, the fixing skeleton of lower floor and base fixed mount all adopt the aluminium sheet that 2mm is thick to form by line cutting processing.
Adopt this processing mode cost lower.
A kind of expression robot, this expression robot has above-mentioned modularization apery head system.
Compared with prior art, the beneficial effects of the utility model are: adopt U-shaped syndeton with respect to existing expression robot head system, reduced tie point, reduced machining accuracy requirement, avoid producing excessive overall dimensions cumulative errors.And its modular construction adopting is with respect to former connected mode at random, and renewal part is more convenient, replacement that both can single part, also can replace a module to entirety.Adaptability is stronger, can allow a head realize the facial expression of different crowd, has good compatibility.
Brief description of the drawings
Fig. 1 is perspective view of the present utility model;
Fig. 2 is explosive view of the present utility model;
Fig. 3 is the structural representation of shell system;
Fig. 4 is the decomposition chart of shell system;
Fig. 5 is the syndeton schematic diagram of vision layer firm banking, face layer firm banking and lower jaw layer firm banking and shell system;
Fig. 6 is the assembled state schematic diagram of vision layer member;
Fig. 7 is the assembled state schematic diagram of face layer member;
Fig. 8 is the combination shape body schematic diagram of lower jaw layer member.
Detailed description of the invention
Below in conjunction with specific embodiments and the drawings, the utility model is further described.
As shown in Figures 1 to 8, a kind of modularization apery head system, comprises shell system 10 and is installed on vision layer member 20, face layer member 30 and the lower jaw layer member 40 on shell system 10.
Referring to Fig. 3 and Fig. 4, described shell system 10 is by three given layer skeletons 101, skeleton 102 is fixed on upper strata, skeleton 103 is fixed in middle level, the fixing skeleton 104 of lower floor and base fixed mount 105 form, described given layer skeleton 101, skeleton 102 is fixed on upper strata, skeleton 103 is fixed in middle level, on the fixing skeleton 104 of lower floor and base fixed mount 105, correspondence is offered interface, three given layer skeletons 101 are vertically arranged side by side, on three given layer skeletons 101, skeleton 102 is fixed on level grafting upper strata successively from top to bottom, skeleton 103 is fixed in middle level, the fixing skeleton 104 of lower floor and base fixed mount 105.
Referring to Fig. 6, described vision layer member 20 is made up of vision layer firm banking 201, vision layer steering wheel 202, vision layer rocking bar 203 and eyeball module 204; Vision layer firm banking 201 is detachable to be connected on the fixing skeleton 102 in upper strata, at two eyeball modules 204 of vision layer firm banking 201 front end riveted joints, and corresponding each eyeball module 204 is vision layer steering wheel 202 of bolt on vision layer firm banking 201, and vision layer steering wheel 202 is connected by vision layer rocking bar 203 with eyeball module 204.
Referring to Fig. 7, described face layer member 30 is made up of face layer firm banking 301, face layer steering wheel 302, face layer rocking bar 303, pull lever 304 and face layer support 305; Face layer firm banking 301 is detachable to be connected on the fixing skeleton 103 in middle level, face layer steering wheel 302 and face layer support 305 bolts are on face layer firm banking 301, a pair of pull lever 304 symmetries are arranged on face layer support 305 both sides, and face layer steering wheel 302 is connected by face layer rocking bar 303 with pull lever 304.
Referring to Fig. 8, described lower jaw layer member 40 is made up of lower jaw layer firm banking 401, lower jaw layer support 402, mandible piece 403 and model teeth 404; Lower jaw layer firm banking 401 is detachable to be connected on the fixing skeleton 104 of lower floor, lower jaw layer support 402 bolts are on lower jaw layer firm banking 401, mandible piece 403 is riveted on lower jaw layer support 402, and model teeth 404 is fixed between mandible piece 403 and lower jaw layer firm banking 401.
Referring to Fig. 2 and Fig. 5, for the ease of installing, dismounting and for adapt to different ethnic groups, the facial characteristics of different sexes is adjusted position, skeleton 102 is fixed on described upper strata, strip installing hole 1 is offered in the left and right sides of the fixing skeleton 103 in middle level and the fixing skeleton 104 of lower floor respectively correspondence, vision layer firm banking 201, the corresponding above-mentioned installing hole 1 of face layer firm banking 301 and lower jaw layer firm banking 401 is offered perpendicular strip pilot hole 2, utilize installing hole 1 and pilot hole 2 to adopt bolt respectively vision layer firm banking 201 to be fixed on the fixing skeleton 102 in upper strata, face layer firm banking 301 is fixed on the fixing skeleton 103 in middle level, lower jaw layer firm banking 401 is fixed on the fixing skeleton 104 of lower floor.Therefore, can be according to the facial characteristics of different ethnic groups, sex, corresponding replacing vision layer member 20, face layer member 30 and lower jaw layer member 40, or the position all around of vision layer firm banking 201, face layer firm banking 301 and lower jaw layer firm banking 401 is adjusted.
Described in present embodiment, three given layer skeletons 101, the fixing skeleton 102 in upper strata, the fixing skeleton 103 in middle level, the fixing skeleton 104 of lower floor and base fixed mounts 105 all adopt the aluminium sheet that 2mm is thick to form by line cutting processing.
The present invention also provides a kind of expression robot, and this expression robot has above-mentioned modularization apery head system.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any amendments of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (5)
1. a modularization apery head system, comprises shell system and is installed on vision layer member, face layer member and the lower jaw layer member on shell system, it is characterized in that:
Described shell system is made up of three given layer skeletons, the fixing skeleton in upper strata, the fixing skeleton in middle level, the fixing skeleton of lower floor and base fixed mount, three given layer skeletons are vertically arranged side by side, and on three given layer skeletons, skeleton and base fixed mount are fixed by the fixing skeleton in level grafting upper strata, the fixing skeleton in middle level, lower floor successively from top to bottom;
Described vision layer member is made up of vision layer firm banking, vision layer steering wheel, vision layer rocking bar and eyeball module; Vision layer firm banking is detachable to be connected on the fixing skeleton in upper strata, rivets two eyeball modules on vision layer firm banking, and vision layer steering wheel of corresponding each eyeball module bolt, and vision layer steering wheel is connected by vision layer rocking bar with eyeball module;
Described face layer member is made up of face layer firm banking, face layer steering wheel, face layer rocking bar, pull lever and face layer support; Face layer firm banking is detachable to be connected on the fixing skeleton in middle level, and face layer steering wheel and face layer stent bolt are connected on face layer firm banking, and pull lever is arranged on face layer support, and face layer steering wheel is connected by face layer rocking bar with pull lever;
Described lower jaw layer member is made up of lower jaw layer firm banking, lower jaw layer support, mandible piece and model teeth; Lower jaw layer firm banking is detachable to be connected on the fixing skeleton of lower floor, and lower jaw layer stent bolt is connected on lower jaw layer firm banking, and mandible piece is riveted on lower jaw layer support, and model teeth is fixed between mandible piece and lower jaw layer firm banking.
2. modularization apery head system according to claim 1, is characterized in that: on described given layer skeleton, the fixing skeleton in upper strata, the fixing skeleton in middle level, the fixing skeleton of lower floor and base fixed mount, correspondence is offered interface, connects by the mode of pegging graft.
3. modularization apery head system according to claim 1, it is characterized in that: skeleton is fixed on described upper strata, strip installing hole is offered in the left and right sides of the fixing skeleton in middle level and the fixing skeleton of lower floor respectively correspondence, vision layer firm banking, the corresponding above-mentioned installing hole of face layer firm banking and lower jaw layer firm banking is offered perpendicular strip pilot hole, utilize installing hole and pilot hole to adopt bolt respectively vision layer firm banking to be fixed on the fixing skeleton in upper strata, face layer firm banking is fixed on the fixing skeleton in middle level, lower jaw layer firm banking is fixed on the fixing skeleton of lower floor.
4. modularization apery head system according to claim 1, is characterized in that: described three given layer skeletons, the fixing skeleton in upper strata, the fixing skeleton in middle level, the fixing skeleton of lower floor and base fixed mount all adopt the aluminium sheet that 2mm is thick to form by line cutting processing.
5. an expression robot, is characterized in that: this expression robot has the modularization apery head system described in the claims 1 to 4 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420031741.1U CN203650522U (en) | 2014-01-20 | 2014-01-20 | Modular humanoid head system and emotional robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420031741.1U CN203650522U (en) | 2014-01-20 | 2014-01-20 | Modular humanoid head system and emotional robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203650522U true CN203650522U (en) | 2014-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420031741.1U Expired - Fee Related CN203650522U (en) | 2014-01-20 | 2014-01-20 | Modular humanoid head system and emotional robot with same |
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| CN (1) | CN203650522U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786224A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | Human-simulated robot lower jaw chewing movement mechanism |
| CN105437247A (en) * | 2016-01-27 | 2016-03-30 | ***机电科技（昆山）有限公司 | Expression robot |
| CN106393127A (en) * | 2016-08-29 | 2017-02-15 | 昆山塔米机器人有限公司 | Robot capable of simulating human facial expressions |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
-
2014
- 2014-01-20 CN CN201420031741.1U patent/CN203650522U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786224A (en) * | 2015-04-07 | 2015-07-22 | 上海大学 | Human-simulated robot lower jaw chewing movement mechanism |
| CN105437247A (en) * | 2016-01-27 | 2016-03-30 | ***机电科技（昆山）有限公司 | Expression robot |
| CN105437247B (en) * | 2016-01-27 | 2017-06-20 | ***机电科技（昆山）有限公司 | A kind of expression robot |
| CN106393127A (en) * | 2016-08-29 | 2017-02-15 | 昆山塔米机器人有限公司 | Robot capable of simulating human facial expressions |
| CN109202915A (en) * | 2017-06-30 | 2019-01-15 | 深圳光启合众科技有限公司 | The head construction and bio-robot of bio-robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140618 Termination date: 20160120 |
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| EXPY | Termination of patent right or utility model |